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<div class="title">icp.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_ICP_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_ICP_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">// PCL includes</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/ransac.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_registration.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/registration.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/transformation_estimation_svd.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/transformation_estimation_point_to_plane_lls.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_estimation.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/default_convergence_criteria.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html">   94</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_registration.html">Registration</a>&lt;PointSource, PointTarget, Scalar&gt;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::PointCloudSource</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::PointCloudTarget</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::Ptr PointCloudTargetPtr;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::ConstPtr PointCloudTargetConstPtr;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">typedef</span> PointIndices::Ptr PointIndicesPtr;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">typedef</span> PointIndices::ConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::reg_name_</a>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::getClassName</a>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::input_</a>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::indices_</a>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::target_</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::nr_iterations_</a>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::previous_transformation_</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::final_transformation_</a>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::transformation_</a>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::transformation_epsilon_</a>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::converged_</a>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::corr_dist_threshold_</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::inlier_threshold_</a>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::min_number_correspondences_</a>;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::update_visualizer_</a>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::euclidean_fitness_epsilon_</a>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::correspondences_</a>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::transformation_estimation_</a>;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::correspondence_estimation_</a>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_registration.html">Registration&lt;PointSource, PointTarget, Scalar&gt;::correspondence_rejectors_</a>;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">typename</span> pcl::registration::DefaultConvergenceCriteria&lt;Scalar&gt;::Ptr convergence_criteria_;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Registration&lt;PointSource, PointTarget, Scalar&gt;::Matrix4 Matrix4;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#a8a45affbd2ef281d58e0741adc9d07ae">  137</a></span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point.html#a8a45affbd2ef281d58e0741adc9d07ae">IterativeClosestPoint</a> () </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        : <a class="code" href="classpcl_1_1_iterative_closest_point.html#a18878bca5d363e3179a45024540a3e87">x_idx_offset_</a> (0)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        , y_idx_offset_ (0)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        , z_idx_offset_ (0)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        , <a class="code" href="classpcl_1_1_iterative_closest_point.html#a0d653506661f5d101c50253a46dc3ce0">nx_idx_offset_</a> (0)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        , ny_idx_offset_ (0)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        , nz_idx_offset_ (0)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        , <a class="code" href="classpcl_1_1_iterative_closest_point.html#a1c4cebbb2d9789f5f55e6831e335b15d">use_reciprocal_correspondence_</a> (false)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        , <a class="code" href="classpcl_1_1_iterative_closest_point.html#a9c473bc941c384d52d8af7cc34e4d703">source_has_normals_</a> (false)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        , <a class="code" href="classpcl_1_1_iterative_closest_point.html#aed96da82ec7cdef9e3bad46c28dfc9be">target_has_normals_</a> (false)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">reg_name_</a> = <span class="stringliteral">&quot;IterativeClosestPoint&quot;</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">transformation_estimation_</a>.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD&lt;PointSource, PointTarget, Scalar&gt;</a> ());</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a5f5e6122a988e5114f4caa1212920444">correspondence_estimation_</a>.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation.html">pcl::registration::CorrespondenceEstimation&lt;PointSource, PointTarget, Scalar&gt;</a>);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        convergence_criteria_.reset(<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html">pcl::registration::DefaultConvergenceCriteria&lt;Scalar&gt;</a> (<a class="code" href="classpcl_1_1_registration.html#a6957c3193d73098cb0535d6625d591d4">nr_iterations_</a>, <a class="code" href="classpcl_1_1_registration.html#a2cdeaab1c7d5e156a7bd35ee71c1f0db">transformation_</a>, *<a class="code" href="classpcl_1_1_registration.html#a98f1c160391fff07f34339b63286e228">correspondences_</a>));</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      };</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#a205be1f82ff55fcb88b8787a06cf5bdb">  155</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html#a205be1f82ff55fcb88b8787a06cf5bdb">~IterativeClosestPoint</a> () {}</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">inline</span> <span class="keyword">typename</span> pcl::registration::DefaultConvergenceCriteria&lt;Scalar&gt;::Ptr</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#ac78bef717f7a6270194511c66fe16b36">  166</a></span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point.html#ac78bef717f7a6270194511c66fe16b36">getConvergeCriteria</a> ()</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordflow">return</span> convergence_criteria_;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#ad5215429e057c8760ac48e9bdb09b12c">  177</a></span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point.html#ad5215429e057c8760ac48e9bdb09b12c">setInputSource</a> (<span class="keyword">const</span> PointCloudSourceConstPtr &amp;cloud)</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      {</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a931144f549047b081c413e96a2fd70d6">Registration&lt;PointSource, PointTarget, Scalar&gt;::setInputSource</a> (cloud);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <a class="code" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a> (*cloud, fields);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <a class="code" href="classpcl_1_1_iterative_closest_point.html#a9c473bc941c384d52d8af7cc34e4d703">source_has_normals_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; fields.size (); ++i)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          <span class="keywordflow">if</span>      (fields[i].name == <span class="stringliteral">&quot;x&quot;</span>) <a class="code" href="classpcl_1_1_iterative_closest_point.html#a18878bca5d363e3179a45024540a3e87">x_idx_offset_</a> = fields[i].offset;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (fields[i].name == <span class="stringliteral">&quot;y&quot;</span>) y_idx_offset_ = fields[i].offset;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (fields[i].name == <span class="stringliteral">&quot;z&quot;</span>) z_idx_offset_ = fields[i].offset;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (fields[i].name == <span class="stringliteral">&quot;normal_x&quot;</span>) </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            <a class="code" href="classpcl_1_1_iterative_closest_point.html#a9c473bc941c384d52d8af7cc34e4d703">source_has_normals_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            <a class="code" href="classpcl_1_1_iterative_closest_point.html#a0d653506661f5d101c50253a46dc3ce0">nx_idx_offset_</a> = fields[i].offset;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (fields[i].name == <span class="stringliteral">&quot;normal_y&quot;</span>) </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;            <a class="code" href="classpcl_1_1_iterative_closest_point.html#a9c473bc941c384d52d8af7cc34e4d703">source_has_normals_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            ny_idx_offset_ = fields[i].offset;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (fields[i].name == <span class="stringliteral">&quot;normal_z&quot;</span>) </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          {</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            <a class="code" href="classpcl_1_1_iterative_closest_point.html#a9c473bc941c384d52d8af7cc34e4d703">source_has_normals_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            nz_idx_offset_ = fields[i].offset;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#a8876f743cc31471a975e950e66c179d4">  212</a></span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point.html#a8876f743cc31471a975e950e66c179d4">setInputTarget</a> (<span class="keyword">const</span> PointCloudTargetConstPtr &amp;cloud)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a4c4e69008295052913c76175797b99a9">Registration&lt;PointSource, PointTarget, Scalar&gt;::setInputTarget</a> (cloud);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <a class="code" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a> (*cloud, fields);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <a class="code" href="classpcl_1_1_iterative_closest_point.html#aed96da82ec7cdef9e3bad46c28dfc9be">target_has_normals_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; fields.size (); ++i)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        {</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <span class="keywordflow">if</span> (fields[i].name == <span class="stringliteral">&quot;normal_x&quot;</span> || fields[i].name == <span class="stringliteral">&quot;normal_y&quot;</span> || fields[i].name == <span class="stringliteral">&quot;normal_z&quot;</span>) </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            <a class="code" href="classpcl_1_1_iterative_closest_point.html#aed96da82ec7cdef9e3bad46c28dfc9be">target_has_normals_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#a22c5480a073da9c53fcb0d387e1c997b">  233</a></span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point.html#a22c5480a073da9c53fcb0d387e1c997b">setUseReciprocalCorrespondences</a> (<span class="keywordtype">bool</span> use_reciprocal_correspondence)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      {</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <a class="code" href="classpcl_1_1_iterative_closest_point.html#a1c4cebbb2d9789f5f55e6831e335b15d">use_reciprocal_correspondence_</a> = use_reciprocal_correspondence;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#a767cf980c6f268fb030fe12754ca32e3">  240</a></span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point.html#a767cf980c6f268fb030fe12754ca32e3">getUseReciprocalCorrespondences</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_iterative_closest_point.html#a1c4cebbb2d9789f5f55e6831e335b15d">use_reciprocal_correspondence_</a>);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point.html#a9e5609b6e348a9592b12871d175dabbf">transformCloud</a> (<span class="keyword">const</span> PointCloudSource &amp;input, </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                      PointCloudSource &amp;output, </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;                      <span class="keyword">const</span> Matrix4 &amp;transform);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point.html#a64a35f2fcda230eaf9b168384763d3d0">computeTransformation</a> (PointCloudSource &amp;output, <span class="keyword">const</span> Matrix4 &amp;guess);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point.html#aa51eb8b9d92dbb56ae7a74958aac54b6">determineRequiredBlobData</a> ();</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#a18878bca5d363e3179a45024540a3e87">  271</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html#a18878bca5d363e3179a45024540a3e87">x_idx_offset_</a>, y_idx_offset_, z_idx_offset_;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#a0d653506661f5d101c50253a46dc3ce0">  274</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html#a0d653506661f5d101c50253a46dc3ce0">nx_idx_offset_</a>, ny_idx_offset_, nz_idx_offset_;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#a1c4cebbb2d9789f5f55e6831e335b15d">  277</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html#a1c4cebbb2d9789f5f55e6831e335b15d">use_reciprocal_correspondence_</a>;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#a9c473bc941c384d52d8af7cc34e4d703">  280</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html#a9c473bc941c384d52d8af7cc34e4d703">source_has_normals_</a>;</div>
<div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#aed96da82ec7cdef9e3bad46c28dfc9be">  282</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html#aed96da82ec7cdef9e3bad46c28dfc9be">target_has_normals_</a>;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point.html#a4ed9b4b47ccd4dc2da120a021d73122c">  285</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html#a4ed9b4b47ccd4dc2da120a021d73122c">need_source_blob_</a>, need_target_blob_;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  };</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point_with_normals.html">  296</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_iterative_closest_point_with_normals.html">IterativeClosestPointWithNormals</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint</a>&lt;PointSource, PointTarget, Scalar&gt;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  {</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::PointCloudSource</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::PointCloudTarget</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::Matrix4 Matrix4;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::reg_name_</a>;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::transformation_estimation_</a>;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt;::correspondence_rejectors_</a>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const IterativeClosestPoint&lt;PointSource, PointTarget, Scalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point_with_normals.html#a2e4cdb3d2c2ee7dc65a4b537ae730037">  311</a></span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point_with_normals.html#a2e4cdb3d2c2ee7dc65a4b537ae730037">IterativeClosestPointWithNormals</a> () </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">reg_name_</a> = <span class="stringliteral">&quot;IterativeClosestPointWithNormals&quot;</span>;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">transformation_estimation_</a>.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html">pcl::registration::TransformationEstimationPointToPlaneLLS&lt;PointSource, PointTarget, Scalar&gt;</a> ());</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        <span class="comment">//correspondence_rejectors_.add</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      };</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      </div>
<div class="line"><a name="l00319"></a><span class="lineno"><a class="line" href="classpcl_1_1_iterative_closest_point_with_normals.html#ace2cbb37831a5059e7c5cb8759b60558">  319</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_iterative_closest_point_with_normals.html#ace2cbb37831a5059e7c5cb8759b60558">~IterativeClosestPointWithNormals</a> () {}</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <a class="code" href="classpcl_1_1_iterative_closest_point_with_normals.html#abe6e55fede6e9ba14fe0aefc4045e942">transformCloud</a> (<span class="keyword">const</span> PointCloudSource &amp;input, </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                      PointCloudSource &amp;output, </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;                      <span class="keyword">const</span> Matrix4 &amp;transform);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  };</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;}</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/icp.hpp&gt;</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_ICP_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html">pcl::IterativeClosestPoint</a></div><div class="ttdoc">IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm....</div><div class="ttdef"><b>Definition:</b> icp.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a0d653506661f5d101c50253a46dc3ce0"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a0d653506661f5d101c50253a46dc3ce0">pcl::IterativeClosestPoint::nx_idx_offset_</a></div><div class="ttdeci">size_t nx_idx_offset_</div><div class="ttdoc">Normal fields offset.</div><div class="ttdef"><b>Definition:</b> icp.h:274</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a18878bca5d363e3179a45024540a3e87"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a18878bca5d363e3179a45024540a3e87">pcl::IterativeClosestPoint::x_idx_offset_</a></div><div class="ttdeci">size_t x_idx_offset_</div><div class="ttdoc">XYZ fields offset.</div><div class="ttdef"><b>Definition:</b> icp.h:271</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a1c4cebbb2d9789f5f55e6831e335b15d"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a1c4cebbb2d9789f5f55e6831e335b15d">pcl::IterativeClosestPoint::use_reciprocal_correspondence_</a></div><div class="ttdeci">bool use_reciprocal_correspondence_</div><div class="ttdoc">The correspondence type used for correspondence estimation.</div><div class="ttdef"><b>Definition:</b> icp.h:277</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a205be1f82ff55fcb88b8787a06cf5bdb"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a205be1f82ff55fcb88b8787a06cf5bdb">pcl::IterativeClosestPoint::~IterativeClosestPoint</a></div><div class="ttdeci">virtual ~IterativeClosestPoint()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> icp.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a22c5480a073da9c53fcb0d387e1c997b"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a22c5480a073da9c53fcb0d387e1c997b">pcl::IterativeClosestPoint::setUseReciprocalCorrespondences</a></div><div class="ttdeci">void setUseReciprocalCorrespondences(bool use_reciprocal_correspondence)</div><div class="ttdoc">Set whether to use reciprocal correspondence or not</div><div class="ttdef"><b>Definition:</b> icp.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a4ed9b4b47ccd4dc2da120a021d73122c"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a4ed9b4b47ccd4dc2da120a021d73122c">pcl::IterativeClosestPoint::need_source_blob_</a></div><div class="ttdeci">bool need_source_blob_</div><div class="ttdoc">Checks for whether estimators and rejectors need various data</div><div class="ttdef"><b>Definition:</b> icp.h:285</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a64a35f2fcda230eaf9b168384763d3d0"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a64a35f2fcda230eaf9b168384763d3d0">pcl::IterativeClosestPoint::computeTransformation</a></div><div class="ttdeci">virtual void computeTransformation(PointCloudSource &amp;output, const Matrix4 &amp;guess)</div><div class="ttdoc">Rigid transformation computation method with initial guess.</div><div class="ttdef"><b>Definition:</b> icp.hpp:119</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a767cf980c6f268fb030fe12754ca32e3"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a767cf980c6f268fb030fe12754ca32e3">pcl::IterativeClosestPoint::getUseReciprocalCorrespondences</a></div><div class="ttdeci">bool getUseReciprocalCorrespondences() const</div><div class="ttdoc">Obtain whether reciprocal correspondence are used or not</div><div class="ttdef"><b>Definition:</b> icp.h:240</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a8876f743cc31471a975e950e66c179d4"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a8876f743cc31471a975e950e66c179d4">pcl::IterativeClosestPoint::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> icp.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a8a45affbd2ef281d58e0741adc9d07ae"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a8a45affbd2ef281d58e0741adc9d07ae">pcl::IterativeClosestPoint::IterativeClosestPoint</a></div><div class="ttdeci">IterativeClosestPoint()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> icp.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a9c473bc941c384d52d8af7cc34e4d703"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a9c473bc941c384d52d8af7cc34e4d703">pcl::IterativeClosestPoint::source_has_normals_</a></div><div class="ttdeci">bool source_has_normals_</div><div class="ttdoc">Internal check whether source dataset has normals or not.</div><div class="ttdef"><b>Definition:</b> icp.h:280</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a9e5609b6e348a9592b12871d175dabbf"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a9e5609b6e348a9592b12871d175dabbf">pcl::IterativeClosestPoint::transformCloud</a></div><div class="ttdeci">virtual void transformCloud(const PointCloudSource &amp;input, PointCloudSource &amp;output, const Matrix4 &amp;transform)</div><div class="ttdoc">Apply a rigid transform to a given dataset. Here we check whether whether the dataset has surface nor...</div><div class="ttdef"><b>Definition:</b> icp.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_aa51eb8b9d92dbb56ae7a74958aac54b6"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#aa51eb8b9d92dbb56ae7a74958aac54b6">pcl::IterativeClosestPoint::determineRequiredBlobData</a></div><div class="ttdeci">virtual void determineRequiredBlobData()</div><div class="ttdoc">Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be cal...</div><div class="ttdef"><b>Definition:</b> icp.hpp:251</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_ac78bef717f7a6270194511c66fe16b36"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#ac78bef717f7a6270194511c66fe16b36">pcl::IterativeClosestPoint::getConvergeCriteria</a></div><div class="ttdeci">pcl::registration::DefaultConvergenceCriteria&lt; Scalar &gt;::Ptr getConvergeCriteria()</div><div class="ttdoc">Returns a pointer to the DefaultConvergenceCriteria used by the IterativeClosestPoint class....</div><div class="ttdef"><b>Definition:</b> icp.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_ad5215429e057c8760ac48e9bdb09b12c"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#ad5215429e057c8760ac48e9bdb09b12c">pcl::IterativeClosestPoint::setInputSource</a></div><div class="ttdeci">virtual void setInputSource(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> icp.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_aed96da82ec7cdef9e3bad46c28dfc9be"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#aed96da82ec7cdef9e3bad46c28dfc9be">pcl::IterativeClosestPoint::target_has_normals_</a></div><div class="ttdeci">bool target_has_normals_</div><div class="ttdoc">Internal check whether target dataset has normals or not.</div><div class="ttdef"><b>Definition:</b> icp.h:282</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_with_normals_html"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point_with_normals.html">pcl::IterativeClosestPointWithNormals</a></div><div class="ttdoc">IterativeClosestPointWithNormals is a special case of IterativeClosestPoint, that uses a transformati...</div><div class="ttdef"><b>Definition:</b> icp.h:297</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_with_normals_html_a2e4cdb3d2c2ee7dc65a4b537ae730037"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point_with_normals.html#a2e4cdb3d2c2ee7dc65a4b537ae730037">pcl::IterativeClosestPointWithNormals::IterativeClosestPointWithNormals</a></div><div class="ttdeci">IterativeClosestPointWithNormals()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> icp.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_with_normals_html_abe6e55fede6e9ba14fe0aefc4045e942"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point_with_normals.html#abe6e55fede6e9ba14fe0aefc4045e942">pcl::IterativeClosestPointWithNormals::transformCloud</a></div><div class="ttdeci">virtual void transformCloud(const PointCloudSource &amp;input, PointCloudSource &amp;output, const Matrix4 &amp;transform)</div><div class="ttdoc">Apply a rigid transform to a given dataset</div><div class="ttdef"><b>Definition:</b> icp.hpp:288</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_with_normals_html_ace2cbb37831a5059e7c5cb8759b60558"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point_with_normals.html#ace2cbb37831a5059e7c5cb8759b60558">pcl::IterativeClosestPointWithNormals::~IterativeClosestPointWithNormals</a></div><div class="ttdeci">virtual ~IterativeClosestPointWithNormals()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> icp.h:319</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration</a></div><div class="ttdoc">Registration represents the base registration class for general purpose, ICP-like methods.</div><div class="ttdef"><b>Definition:</b> registration.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a1e493af70763e05bcaf5ecd0ed7be63d"><div class="ttname"><a href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">pcl::Registration&lt; PointSource, PointTarget, float &gt;::reg_name_</a></div><div class="ttdeci">std::string reg_name_</div><div class="ttdoc">The registration method name.</div><div class="ttdef"><b>Definition:</b> registration.h:482</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a2cdeaab1c7d5e156a7bd35ee71c1f0db"><div class="ttname"><a href="classpcl_1_1_registration.html#a2cdeaab1c7d5e156a7bd35ee71c1f0db">pcl::Registration&lt; PointSource, PointTarget, float &gt;::transformation_</a></div><div class="ttdeci">Matrix4 transformation_</div><div class="ttdoc">The transformation matrix estimated by the registration method.</div><div class="ttdef"><b>Definition:</b> registration.h:508</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a4c4e69008295052913c76175797b99a9"><div class="ttname"><a href="classpcl_1_1_registration.html#a4c4e69008295052913c76175797b99a9">pcl::Registration::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align the input source t...</div><div class="ttdef"><b>Definition:</b> registration.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a5f5e6122a988e5114f4caa1212920444"><div class="ttname"><a href="classpcl_1_1_registration.html#a5f5e6122a988e5114f4caa1212920444">pcl::Registration&lt; PointSource, PointTarget, float &gt;::correspondence_estimation_</a></div><div class="ttdeci">CorrespondenceEstimationPtr correspondence_estimation_</div><div class="ttdoc">A CorrespondenceEstimation object, used to estimate correspondences between the source and the target...</div><div class="ttdef"><b>Definition:</b> registration.h:550</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a6957c3193d73098cb0535d6625d591d4"><div class="ttname"><a href="classpcl_1_1_registration.html#a6957c3193d73098cb0535d6625d591d4">pcl::Registration&lt; PointSource, PointTarget, float &gt;::nr_iterations_</a></div><div class="ttdeci">int nr_iterations_</div><div class="ttdoc">The number of iterations the internal optimization ran for (used internally).</div><div class="ttdef"><b>Definition:</b> registration.h:491</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a931144f549047b081c413e96a2fd70d6"><div class="ttname"><a href="classpcl_1_1_registration.html#a931144f549047b081c413e96a2fd70d6">pcl::Registration::setInputSource</a></div><div class="ttdeci">virtual void setInputSource(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> registration.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a98f1c160391fff07f34339b63286e228"><div class="ttname"><a href="classpcl_1_1_registration.html#a98f1c160391fff07f34339b63286e228">pcl::Registration&lt; PointSource, PointTarget, float &gt;::correspondences_</a></div><div class="ttdeci">CorrespondencesPtr correspondences_</div><div class="ttdoc">The set of correspondences determined at this ICP step.</div><div class="ttdef"><b>Definition:</b> registration.h:544</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a99baaa7e513bda9103c58fd1471557ed"><div class="ttname"><a href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">pcl::Registration&lt; PointSource, PointTarget, float &gt;::transformation_estimation_</a></div><div class="ttdeci">TransformationEstimationPtr transformation_estimation_</div><div class="ttdoc">A TransformationEstimation object, used to calculate the 4x4 rigid transformation.</div><div class="ttdef"><b>Definition:</b> registration.h:547</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation.html">pcl::registration::CorrespondenceEstimation</a></div><div class="ttdoc">CorrespondenceEstimation represents the base class for determining correspondences between target and...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:379</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html">pcl::registration::DefaultConvergenceCriteria</a></div><div class="ttdoc">DefaultConvergenceCriteria represents an instantiation of ConvergenceCriteria, and implements the fol...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_l_l_s.html">pcl::registration::TransformationEstimationPointToPlaneLLS</a></div><div class="ttdoc">TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for min...</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_lls.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_s_v_d_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD</a></div><div class="ttdef"><b>Definition:</b> transformation_estimation_svd.h:59</div></div>
<div class="ttc" id="agroup__common_html_gaa2ff830572b7cbf2fd8ce335fd9ca4fb"><div class="ttname"><a href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a></div><div class="ttdeci">void getFields(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, std::vector&lt; pcl::PCLPointField &gt; &amp;fields)</div><div class="ttdoc">Get the list of available fields (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.hpp:79</div></div>
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